EP4120123A4 - Auf scanlinien basierendes strassenpunktwolkenextraktionsverfahren - Google Patents

Auf scanlinien basierendes strassenpunktwolkenextraktionsverfahren Download PDF

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Publication number
EP4120123A4
EP4120123A4 EP21901893.4A EP21901893A EP4120123A4 EP 4120123 A4 EP4120123 A4 EP 4120123A4 EP 21901893 A EP21901893 A EP 21901893A EP 4120123 A4 EP4120123 A4 EP 4120123A4
Authority
EP
European Patent Office
Prior art keywords
scan line
point cloud
extraction method
road point
based road
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21901893.4A
Other languages
English (en)
French (fr)
Other versions
EP4120123A1 (de
Inventor
Lei Chen
Zhongjian XU
Biliang ZHU
Yunhe XU
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Speed Space Time Information Technology Co Ltd
Original Assignee
Speed Space Time Information Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Speed Space Time Information Technology Co Ltd filed Critical Speed Space Time Information Technology Co Ltd
Publication of EP4120123A1 publication Critical patent/EP4120123A1/de
Publication of EP4120123A4 publication Critical patent/EP4120123A4/de
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/176—Urban or other man-made structures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/23—Clustering techniques
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
    • G06V10/267—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion by performing operations on regions, e.g. growing, shrinking or watersheds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G06V10/457—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components by analysing connectivity, e.g. edge linking, connected component analysis or slices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/762—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using clustering, e.g. of similar faces in social networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Data Mining & Analysis (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Biology (AREA)
  • General Engineering & Computer Science (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Software Systems (AREA)
  • Medical Informatics (AREA)
  • Databases & Information Systems (AREA)
  • Computing Systems (AREA)
  • Image Analysis (AREA)
  • Processing Or Creating Images (AREA)
  • Image Processing (AREA)
EP21901893.4A 2020-12-07 2021-03-30 Auf scanlinien basierendes strassenpunktwolkenextraktionsverfahren Pending EP4120123A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011415577.0A CN112200171B (zh) 2020-12-07 2020-12-07 一种基于扫描线的道路点云的提取方法
PCT/CN2021/084078 WO2022121177A1 (zh) 2020-12-07 2021-03-30 一种基于扫描线的道路点云的提取方法

Publications (2)

Publication Number Publication Date
EP4120123A1 EP4120123A1 (de) 2023-01-18
EP4120123A4 true EP4120123A4 (de) 2023-08-30

Family

ID=74033845

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21901893.4A Pending EP4120123A4 (de) 2020-12-07 2021-03-30 Auf scanlinien basierendes strassenpunktwolkenextraktionsverfahren

Country Status (3)

Country Link
EP (1) EP4120123A4 (de)
CN (1) CN112200171B (de)
WO (1) WO2022121177A1 (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112200171B (zh) * 2020-12-07 2021-03-23 速度时空信息科技股份有限公司 一种基于扫描线的道路点云的提取方法
CN112862844B (zh) * 2021-02-20 2024-01-05 园测信息科技股份有限公司 基于车载点云数据的道路边界交互式提取方法
CN113762067B (zh) * 2021-07-21 2024-03-26 上海圭目机器人有限公司 一种机场板块的识别方法
CN117173424B (zh) * 2023-11-01 2024-01-26 武汉追月信息技术有限公司 一种点云坡面边缘线识别方法、系统及可读存储介质
CN117475002A (zh) * 2023-12-27 2024-01-30 青岛亿联建设集团股份有限公司 基于激光扫描技术的建筑倾斜度测量方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103778429A (zh) * 2014-01-24 2014-05-07 青岛秀山移动测量有限公司 一种车载激光扫描点云中道路信息自动提取方法
CN108062517A (zh) * 2017-12-04 2018-05-22 武汉大学 基于车载激光点云的非结构化道路边界线自动提取方法
US20190178989A1 (en) * 2017-12-11 2019-06-13 Automotive Research & Testing Center Dynamic road surface detecting method based on three-dimensional sensor

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GR1007395B (el) * 2010-10-25 2011-09-13 Σεραφειμ Ευαγγελου Αμβραζης Μεθοδοι χαρτογραφησης και οπτικοποιησης κυλινδρικων προβολων επιφανειων σηραγγων
US8825260B1 (en) * 2013-07-23 2014-09-02 Google Inc. Object and ground segmentation from a sparse one-dimensional range data
CN104197897B (zh) * 2014-04-25 2017-01-04 厦门大学 一种基于车载激光扫描点云的城区道路标线自动分类方法
US10031231B2 (en) * 2016-09-12 2018-07-24 Delphi Technologies, Inc. Lidar object detection system for automated vehicles
CN110378173A (zh) * 2018-07-10 2019-10-25 北京京东尚科信息技术有限公司 一种确定道路边界线的方法和装置
CN109684921B (zh) * 2018-11-20 2022-05-27 吉林大学 一种基于三维激光雷达的道路边界检测与跟踪方法
CN109741450B (zh) * 2018-12-29 2023-09-19 征图三维（北京）激光技术有限公司 一种基于扫描线的路面点云自动提取方法及装置
CN110598541B (zh) * 2019-08-05 2021-07-23 香港理工大学深圳研究院 一种提取道路边缘信息的方法及设备
CN111208495A (zh) * 2020-02-28 2020-05-29 燕山大学 一种基于激光雷达点云特征线与平面校准的地面提取方法
CN112200171B (zh) * 2020-12-07 2021-03-23 速度时空信息科技股份有限公司 一种基于扫描线的道路点云的提取方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103778429A (zh) * 2014-01-24 2014-05-07 青岛秀山移动测量有限公司 一种车载激光扫描点云中道路信息自动提取方法
CN108062517A (zh) * 2017-12-04 2018-05-22 武汉大学 基于车载激光点云的非结构化道路边界线自动提取方法
US20190178989A1 (en) * 2017-12-11 2019-06-13 Automotive Research & Testing Center Dynamic road surface detecting method based on three-dimensional sensor

Also Published As

Publication number Publication date
WO2022121177A1 (zh) 2022-06-16
CN112200171A (zh) 2021-01-08
CN112200171B (zh) 2021-03-23
EP4120123A1 (de) 2023-01-18

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